cl_move_group_interface::CbDetachObject Class Reference

#include <cb_detach_object.hpp>

Inheritance diagram for cl_move_group_interface::CbDetachObject:

Collaboration diagram for cl_move_group_interface::CbDetachObject:

Public Member Functions
virtual void	onEntry () override
virtual void	onExit () override
Public Member Functions inherited from smacc2::SmaccAsyncClientBehavior
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
virtual	~SmaccAsyncClientBehavior ()
template<typename TCallback , typename T >
boost::signals2::connection	onSuccess (TCallback callback, T *object)
template<typename TCallback , typename T >
boost::signals2::connection	onFinished (TCallback callback, T *object)
template<typename TCallback , typename T >
boost::signals2::connection	onFailure (TCallback callback, T *object)
Public Member Functions inherited from smacc2::ISmaccClientBehavior
	ISmaccClientBehavior ()
virtual	~ISmaccClientBehavior ()
ISmaccStateMachine *	getStateMachine ()
std::string	getName () const
template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)
template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage)

Additional Inherited Members
Protected Member Functions inherited from smacc2::SmaccAsyncClientBehavior
void	postSuccessEvent ()
void	postFailureEvent ()
virtual void	dispose () override
bool	isShutdownRequested ()
Protected Member Functions inherited from smacc2::ISmaccClientBehavior
virtual void	runtimeConfigure ()
virtual void	onEntry ()
virtual void	onExit ()
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
ISmaccState *	getCurrentState ()
virtual void	dispose ()
virtual rclcpp::Node::SharedPtr	getNode ()
virtual rclcpp::Logger	getLogger ()

Detailed Description

Definition at line 30 of file cb_detach_object.hpp.

Member Function Documentation

onEntry()

void cl_move_group_interface::CbDetachObject::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 26 of file cb_detach_object.cpp.

{
  RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] requesting components");
 
  cl_move_group_interface::CpGraspingComponent * graspingComponent;
  this->requiresComponent(graspingComponent);
 
  cl_move_group_interface::ClMoveGroup * moveGroupClient;
  this->requiresClient(moveGroupClient);
 
  auto & planningSceneInterface = moveGroupClient->planningSceneInterface;
 
  RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] requesting detach object");
 
  auto res = moveGroupClient->moveGroupClientInterface->detachObject(
    *(graspingComponent->currentAttachedObjectName));
  planningSceneInterface->removeCollisionObjects({*(graspingComponent->currentAttachedObjectName)});
 
  RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] detach result: " << res);
 
  if (res)
    this->postSuccessEvent();
  else
    this->postFailureEvent();
}

References cl_move_group_interface::CpGraspingComponent::currentAttachedObjectName, smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), cl_move_group_interface::ClMoveGroup::moveGroupClientInterface, cl_move_group_interface::ClMoveGroup::planningSceneInterface, smacc2::SmaccAsyncClientBehavior::postFailureEvent(), smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), smacc2::ISmaccClientBehavior::requiresClient(), and smacc2::ISmaccClientBehavior::requiresComponent().

Here is the call graph for this function:

onExit()

void cl_move_group_interface::CbDetachObject::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 52 of file cb_detach_object.cpp.

{}

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The documentation for this class was generated from the following files:

• smacc2_client_library/move_group_interface_client/include/move_group_interface_client/client_behaviors/cb_detach_object.hpp
• smacc2_client_library/move_group_interface_client/src/move_group_interface_client/client_behaviors/cb_detach_object.cpp